Stability Analysis of Swarm Based on Double Integrator Model

Abstract

In this paper, we consider an M -member individual-based continuous-time double integrator swarm model in an n-dimensional space. The swarm model based on the Newton’s law is more suitable to describe the swarm aggregation and has wide practical applications. We present stability analysis for the case of linear attraction and bounded repulsion to characterize swarm cohesiveness, size and ultimate motions while in a cohesive group. Finally, some numerical examples and simulation results are presented to illustrate the effectiveness of the swarm model.

Keywords

Stability Analysis Double Integrator Cooperative Control Attraction Term Repulsion Term

These keywords were added by machine and not by the authors.

This work was partly supported by China Postdoctoral Science Foundation of China under Grant 200537121. L. Gao is also a post-doctor of Institute of Systems Science, Chinese Academy of Sciences, Beijing 100080, China.